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Record Details

Record 14 of 3059
Tactile Sensors for the NASA/DARPA Robonaut
Author and Affiliation:
Martin, Toby B.(NASA Johnson Space Center, Houston, TX, United States)
Diftler, Myron(NASA Johnson Space Center, Houston, TX, United States)
Ambrose, Robert O.(NASA Johnson Space Center, Houston, TX, United States)
Platt, Robert, Jr.(Massachusetts Univ., MA, United States)
Butzer, Melissa(Oceaneering Space Systems, Houston, TX, United States)
Abstract: Tactile sensors are providing the foundation for developing autonomous grasping skills for the NASA/DARPA Robonaut, a dexterous humanoid robot. The sensors originally developed for the Utah/MIT hand are now incorporated into a rugged glove for Robonaut. These custom gloves compliment the human like dexterity available in the Robonaut hands. The sensors and gloves are discussed showing a progression in using advanced materials and construction techniques to enhance sensitivity and overall sensor coverage. The force data provided by the gloves can be used to improve dexterous, tool and power grasping primitives. Experiments with the latest gloves focus on the use of tools, specifically a power drill used to approximate an astronaut's torque tool.
Publication Date: Jan 01, 2004
Document ID:
20060027897
(Acquired Sep 05, 2006)
Subject Category: CYBERNETICS, ARTIFICIAL INTELLIGENCE AND ROBOTICS
Document Type: Conference Paper
Meeting Information: AIAA Unmanned Unlimited Technical Conference; 20-23 Sep. 2004; Chicago, IL; United States
Meeting Sponsor: American Inst. of Aeronautics and Astronautics; United States
Financial Sponsor: NASA Johnson Space Center; Houston, TX, United States
Organization Source: NASA Johnson Space Center; Houston, TX, United States
Description: 1p; In English
Distribution Limits: Unclassified; Publicly available; Unlimited
Rights: Copyright
NASA Terms: AUTONOMY; ROBOTS; TACTILE SENSORS (ROBOTICS); ASTRONAUTS; TORQUE; SENSITIVITY
Availability Source: Other Sources
Availability Notes: Abstract Only
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